CN115709869A - Mixed feeding control method and mixed feeding system - Google Patents

Mixed feeding control method and mixed feeding system Download PDF

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Publication number
CN115709869A
CN115709869A CN202211413840.1A CN202211413840A CN115709869A CN 115709869 A CN115709869 A CN 115709869A CN 202211413840 A CN202211413840 A CN 202211413840A CN 115709869 A CN115709869 A CN 115709869A
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feeding
controlling
equipment
feeding equipment
state
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Chinese (zh)
Inventor
周浩
陈晖�
郭壮
杨勇
蒋俊
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Phoenix Nanjing Intelligent Manufacturing Technology Engineering Co ltd
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Phoenix Nanjing Intelligent Manufacturing Technology Engineering Co ltd
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Priority to CN202211413840.1A priority Critical patent/CN115709869A/en
Publication of CN115709869A publication Critical patent/CN115709869A/en
Priority to DE102023131148.4A priority patent/DE102023131148A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders

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  • Engineering & Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Mechanical Engineering (AREA)
  • Economics (AREA)
  • Operations Research (AREA)
  • Quality & Reliability (AREA)
  • Finance (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Human Resources & Organizations (AREA)
  • Marketing (AREA)
  • Accounting & Taxation (AREA)
  • Development Economics (AREA)
  • Strategic Management (AREA)
  • Tourism & Hospitality (AREA)
  • Physics & Mathematics (AREA)
  • General Business, Economics & Management (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Feeding Of Articles To Conveyors (AREA)
  • Control Of Conveyors (AREA)

Abstract

The embodiment of the invention discloses a control method of mixed feeding and a mixed feeding system. The control method of the mixed feeding comprises the following steps: acquiring order information and a feeding equipment state; the order information comprises order queuing number, and the feeding equipment state comprises an idle state and a busy state; determining a feeding mode of feeding equipment according to the order information and the state of the feeding equipment; the feeding mode comprises ordered feeding and disordered feeding; and controlling the feeding equipment to feed according to the feeding mode. This scheme can be according to the actual conditions of production (order information and pan feeding equipment state), and control pan feeding equipment combines orderly material loading and unordered material loading, on the basis of taking into account pan feeding equipment pan feeding demand, reduces manpower resources's waste, improves the operating efficiency of pan feeding equipment.

Description

Mixed feeding control method and mixed feeding system
Technical Field
The embodiment of the invention relates to the technical field of production and manufacturing execution systems, in particular to a mixed feeding control method and a mixed feeding system.
Background
The pan feeding mode of current raw materials storehouse is more single, and most adopt orderly pan feeding mode, and this mode requires the orderly rule of material, also requires the manual work to put things in good order the back with the product, mode pan feeding such as rethread drawer, tray or cartridge clip, and this pan feeding mode can cause a large amount of manpower resources extravagant. At present, a robot disordered feeding mode is adopted, and a machine is used for screening feeding, but the feeding mode has low operation efficiency. Therefore, the existing feeding mode needs to be improved, and the operation efficiency is improved on the basis of reducing the waste of human resources.
Disclosure of Invention
The embodiment of the invention provides a control method of mixed feeding and a mixed feeding system, which reduce the waste of human resources and improve the operation efficiency of feeding equipment on the basis of considering the feeding requirement of the feeding equipment.
In a first aspect, an embodiment of the present invention provides a method for controlling mixed feeding, including:
acquiring order information and a feeding equipment state; the order information comprises order queuing quantity, and the feeding equipment state comprises an idle state and a busy state;
determining a feeding mode of feeding equipment according to the order information and the state of the feeding equipment; the feeding mode comprises ordered feeding and disordered feeding;
and controlling feeding equipment to feed according to the feeding mode. Optionally, the method for determining the feeding mode of the feeding device includes:
judging whether the order queuing number is more than or equal to 1;
if so, controlling the feeding equipment to execute the ordered feeding;
if not, judging whether the feeding equipment is in a busy state;
if so, controlling the feeding equipment to execute the ordered feeding;
and if not, controlling the feeding equipment to execute the disordered feeding.
Optionally, before controlling the feeding apparatus to perform the unordered feeding, the method further includes:
acquiring a raw material storage position state of the feeding equipment;
judging whether the stock position state of the raw materials is full load;
if so, re-determining the feeding mode of the feeding equipment;
and if not, controlling the feeding equipment to execute the disordered feeding.
Optionally, before controlling the feeding apparatus to perform the unordered feeding, the method further includes:
collecting historical order information;
determining the feeding sequence of different types of materials to be fed according to the historical order information;
and controlling the feeding equipment to execute the disordered feeding according to the feeding sequence.
Optionally, the feeding device comprises a plurality of raw material storage positions, a plurality of material trays, an ordered feeding slideway and a mechanical arm; the method for controlling the feeding equipment to carry out the ordered feeding comprises the following steps:
controlling the mechanical arm to move the empty material tray in each raw material storage position out of the raw material storage position;
controlling the mechanical arm to obtain material information in the material tray in the ordered feeding slideway, and judging the type of the material according to the material information;
and controlling the mechanical arm to place the material tray in the raw material warehouse position of the corresponding type according to the material type.
Optionally, the feeding device further comprises an unordered feeding slideway, a flexible vibration disc and a 3D camera;
the method for controlling the feeding equipment to carry out the disordered feeding comprises the following steps:
controlling the disordered feeding slide way to convey materials to the flexible vibration disc;
controlling the 3D camera to acquire position information of each material in the flexible vibration disc in real time;
judging whether materials meeting the grabbing conditions exist or not according to the position information;
if not, controlling the flexible vibration disk to vibrate according to the bit information;
and if so, controlling the mechanical arm to grab the material and placing the material in the material tray which is not fully loaded in the corresponding raw material storage position.
Optionally, the position information includes position data, posture data, and placement angle data.
Optionally, the method for determining whether there is a material meeting the grabbing condition includes:
judging whether the position data is within a preset grabbing position range or not;
if yes, judging whether the gesture data are the same as preset gesture data or not;
and if so, controlling the mechanical arm to grab the material according to the angle data.
In a second aspect, an embodiment of the present invention further provides a mixed feeding system, which includes: the device comprises a feeding device and a mixed feeding control device;
the mixed feeding control equipment is used for any mixed feeding control method provided by the embodiment.
According to the embodiment of the invention, by acquiring the order information (order queuing number) and the state (idle state or busy state) of the feeding equipment, the material quantity of the current feeding equipment needing to be fed and the busy state of the current feeding equipment can be acquired, so that the feeding of the feeding equipment can be conveniently controlled for subsequently selecting a proper feeding mode, and the feeding efficiency of the feeding equipment can be improved or the investment of human resources can be reduced. And determining the feeding mode of the feeding equipment according to the order information and the state of the feeding equipment. When the determined feeding mode is ordered feeding, man-machine cooperation feeding can be achieved, and feeding efficiency of feeding equipment is greatly improved. When the determined feeding mode is disordered feeding, the feeding equipment automatically feeds materials, so that the investment of human resources can be reduced. In conclusion, the control method for mixed feeding provided by the invention can control the feeding equipment to combine ordered feeding and unordered feeding according to the actual production conditions (order information and feeding equipment state), so that the waste of human resources is reduced and the operating efficiency of the feeding equipment is improved on the basis of considering the feeding requirements of the feeding equipment.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a feeding apparatus provided in the prior art;
FIG. 2 is a schematic flow chart illustrating a method for controlling mixed feeding according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a method for determining a feeding manner of a feeding apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating another method for determining a feeding manner of a feeding apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating another method for determining a feeding manner of a feeding apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a feeding apparatus according to an embodiment of the present invention;
FIG. 7 is a schematic flow chart of a method for controlling a feeding apparatus to perform ordered feeding according to an embodiment of the present invention;
fig. 8 is a schematic flow chart of a method for controlling a feeding apparatus to perform unordered feeding according to an embodiment of the present invention;
fig. 9 is a schematic flowchart of a method for determining whether there is a material meeting a grabbing condition according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a mixing and feeding system according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the "comprises" and any variations thereof in the description and claims of the present invention and the above-described drawings are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic structural diagram of a feeding apparatus provided in the prior art, and as shown in fig. 1, the feeding apparatus includes: material tray 10, raw and other materials storehouse position 20, arm 30 and pan feeding slide 40. Wherein, this pan feeding equipment adopts the pan feeding in order.
Specifically, the feeding process of the feeding device shown in fig. 1 is as follows: the robotic arm 30 first picks an empty material tray 10 from the raw material stock location 20. The materials are orderly placed into the material tray 10 taken out by the mechanical arm 30 by a human, and after the material tray 10 is filled with the materials, the material tray 10 is manually placed into the material slide way 40. When the feeding chute 40 conveys the material tray 10 filled with the material to a certain position range, the mechanical arm 30 grabs the material tray 10 and places the material tray 10 in the raw material storage position 20.
Obviously, the above process is suitable for the case that a large amount of material is needed, but when the material needed to be fed into the material feeding device is less, and when the empty material tray 10 appears in the raw material storage location 20, the material feeding device carries out the ordered material feeding, and a large amount of manpower resources are wasted in the period.
Therefore, the invention provides a control method of mixed feeding, which reduces the waste of human resources and improves the operation efficiency of feeding equipment on the basis of considering the feeding requirement of the feeding equipment.
Fig. 2 is a schematic flow chart of a method for controlling mixed feeding according to an embodiment of the present invention, where the method is applicable to a situation that feeding control needs to be performed on a feeding device, the method may be performed by the mixed feeding control device, and the apparatus may be implemented in a hardware and/or software manner. The method specifically comprises the following steps:
s110, obtaining order information and a feeding equipment state; the order information comprises order queuing number, and the feeding equipment state comprises an idle state and a busy state.
The order information is the document quantity and the document record content of the order made by the customer, the order queuing quantity of the customer and the material quantity required to be used by each order device can be obtained according to the order information, and the appropriate feeding mode can be selected to control the feeding of the feeding device conveniently in a follow-up mode, so that the working efficiency of the feeding device is improved. The feeding equipment state is judged according to the current running condition of the feeding equipment, and the obtained feeding equipment state can judge whether the current feeding mode needs to be adjusted or not so as to improve the feeding efficiency of the feeding equipment or reduce the input of human resources.
Specifically, the order information includes an order queuing number; the feeding apparatus state includes an idle state and a busy state.
When the feeding equipment stops running, the feeding equipment is in an idle state; and if the feeding equipment is running, the feeding equipment is in a busy state. The order queuing number included in the order information is obtained, the material quantity required to be fed by the current feeding equipment can be obtained, and therefore the feeding mode of the feeding equipment can be flexibly selected according to the current actual material demand condition. Therefore, when the material quantity of the feeding equipment needing to be fed is large or the feeding equipment is in a busy state, the feeding mode selected can improve the feeding working efficiency of the feeding equipment; when the material quantity of the material needing to be fed into the feeding equipment is small and the feeding equipment is in an idle state, the feeding mode selected can reduce the input of human resources.
S120, determining a feeding mode of feeding equipment according to the order information and the state of the feeding equipment; wherein, the feeding mode comprises ordered feeding and unordered feeding.
Specifically, the material of placing in order is added for the artifical pan feeding slide that is the pan feeding equipment to the pan feeding in order, and the pan feeding equipment only needs to be responsible for putting into the material and corresponds raw and other materials storehouse position, can know from this that the pan feeding in order is man-machine cooperation material loading, can improve the pan feeding efficiency of pan feeding equipment by a wide margin. Unordered pan feeding is pan feeding equipment automatic feeding, sorts the material automatically to put into corresponding raw and other materials storehouse position with different types of material, thereby reduce the input of manpower resources.
Illustratively, when the required material amount is larger or the state of the feeding equipment is in a busy state according to the order information, the feeding equipment is controlled to carry out ordered feeding so as to improve the feeding efficiency of the feeding equipment. When the required material amount is smaller and the state of the feeding equipment is in an idle state according to the order information, the feeding equipment is controlled to be switched to unordered feeding, namely, the feeding equipment is controlled to automatically feed, and accordingly the input of human resources is reduced.
S130, controlling feeding equipment to feed according to a feeding mode.
Specifically, the feeding equipment is controlled to carry out ordered feeding, man-machine cooperation feeding is achieved, and feeding efficiency of the feeding equipment is improved. And (3) controlling the feeding equipment to perform disordered feeding, namely controlling the feeding equipment to automatically feed, thereby reducing the input of human resources.
According to the embodiment of the invention, by acquiring the order information (order queuing number) and the state (idle state or busy state) of the feeding equipment, the material quantity of the current feeding equipment needing to be fed and the busy state of the current feeding equipment can be acquired, so that the feeding of the feeding equipment can be conveniently controlled for subsequently selecting a proper feeding mode, and the feeding efficiency of the feeding equipment can be improved or the investment of human resources can be reduced. And determining the feeding mode of the feeding equipment according to the order information and the state of the feeding equipment. When the determined feeding mode is ordered feeding, man-machine cooperation feeding can be achieved, and feeding efficiency of feeding equipment is greatly improved. When the determined feeding mode is disordered feeding, the feeding equipment automatically feeds materials, so that the investment of human resources can be reduced. In summary, the control method for mixed feeding provided by the invention can control the feeding equipment to combine ordered feeding and unordered feeding according to the actual production conditions (order information and feeding equipment state), so that the waste of human resources is reduced and the operation efficiency of the feeding equipment is improved on the basis of considering the feeding requirement of the feeding equipment.
Exemplarily, fig. 3 is a schematic flow chart of a method for determining a feeding manner of a feeding apparatus according to an embodiment of the present invention, and the method for determining the feeding manner of the feeding apparatus is further described in detail on the basis of the above embodiment:
s210, judging whether the order queuing number is more than or equal to 1; if yes, go to S220, otherwise go to S230.
Whether a large amount of feeding is needed currently can be judged according to the order queuing number, and whether the current feeding is mainly to improve the working efficiency of feeding equipment or to determine to control the feeding equipment to execute a proper feeding mode mainly to reduce human resources can be known on the basis of the judgment.
S220, controlling a feeding device to perform ordered feeding.
S230, judging whether the feeding equipment is in a busy state; if yes, go to step S220, otherwise go to step S240.
S240, controlling a feeding device to perform disordered feeding.
In summary, when an order is queued or the feeding device is in a busy state, it is indicated that the feeding device needs to feed a large amount of materials, the feeding device needs to be controlled to perform ordered feeding, and man-machine cooperative feeding is performed, so that the feeding efficiency of the feeding device can be improved. When no order is queued and the current feeding equipment is in an idle state, the amount of materials needing to be fed by the feeding equipment is small, and the automatic feeding of the feeding equipment can be controlled, so that the input of human resources is reduced.
Exemplarily, fig. 4 is a schematic flow chart of another method for determining a feeding manner of a feeding apparatus according to an embodiment of the present invention, and the method for determining the feeding manner of the feeding apparatus is further described in detail on the basis of the above embodiment:
s310, judging whether the order queuing number is more than or equal to 1; if yes, go to S320, otherwise go to S330.
And S320, controlling the feeding equipment to execute ordered feeding.
S330, judging whether the feeding equipment is in a busy state; if yes, go to S320, otherwise go to S340.
S340, obtaining the raw material storage position state of the feeding equipment.
Wherein, the raw material stock position state comprises a full load state and a non-full load state. The raw material storage position state is a full-load state, which indicates that materials are placed in each storage position of the raw material storage position at the moment, and obviously, the feeding equipment does not need to feed materials at the moment. The raw material storage position state is a non-full-load state, which indicates that the raw material storage position has a storage position to continuously place materials, and obviously, the feeding equipment can feed materials at the moment.
S350, judging whether the stock position state of the raw material is full load; if yes, go to step S310, otherwise go to step S360.
And S360, controlling the feeding equipment to perform disordered feeding.
In summary, before the unordered pan feeding is carried out to control pan feeding equipment, detect and judge raw and other materials storehouse position state, can prevent to be in raw and other materials storehouse position full load state, the pan feeding equipment continues to take place towards the condition that raw and other materials storehouse position placed the material to reinforcing pan feeding equipment stability of operation.
Exemplarily, fig. 5 is a schematic flow chart of another method for determining a feeding manner of a feeding apparatus according to an embodiment of the present invention, and the method for determining the feeding manner of the feeding apparatus is further described in detail on the basis of the above embodiment:
s410, judging whether the order queuing number is more than or equal to 1; if yes, go to step S420, otherwise go to step S430.
And S420, controlling the feeding equipment to perform ordered feeding.
S430, judging whether the feeding equipment is in a busy state; if yes, go to step S420, otherwise go to step S440.
S440, obtaining a raw material storage position state of the feeding equipment.
S450, judging whether the stock position state of the raw material is full load; if yes, go to S410, otherwise go to S460.
And S460, collecting historical order information.
The historical order information is collected, and the types of materials and the quantity of each material ordered by the user, which are included in the historical order information, can be mainly obtained.
S470, determining the feeding sequence of the fed materials of different types according to the historical order information.
Specifically, the material type preference of ordering by a user and the large quantity of the material types of ordering can be collected according to historical order information, the preference of the user can be captured in a machine learning mode according to the information, and the feeding sequence of different types of materials can be determined. When multiple materials are short of materials at the same time, the favorite materials of the user can be supplemented preferentially, and the operation efficiency of the feeding equipment is further improved.
And S480, controlling a feeding device to perform disordered feeding according to the feeding sequence.
In summary, before the feeding device is controlled to perform unordered feeding, user preferences can be known according to historical order information, and the feeding sequence is determined according to the user preferences. Therefore, the feeding equipment can be controlled to execute unordered feeding according to the feeding sequence, and the operation efficiency of the feeding equipment is improved to a certain extent.
Fig. 6 is a schematic structural diagram of a feeding apparatus according to an embodiment of the present invention, and as shown in fig. 6, the feeding apparatus includes a plurality of raw material storage locations 11, a plurality of material trays 22, an ordered feeding chute 33, a mechanical arm 44, an unordered feeding chute 55, a flexible vibration disk 66, and a 3D camera vertically disposed above the flexible vibration disk 66.
The material tray 22 filled with the material can be placed in the raw material storage position 11 by the mechanical arm 44, and the empty material tray 22 in the raw material storage position 11 can be moved out of the raw material storage position 11 by the mechanical arm 44. The material tray 22 that artifical benefit was filled with the material can be carried to the pan feeding slide 33 in order, and unordered pan feeding slide 55 can be for flexible vibration dish 66 transported substance material, and flexible vibration dish 66 is arranged in adjusting the position and the gesture of material in flexible vibration dish 66, and information such as position and the gesture of material in flexible vibration dish 66 can be gathered to the 3D camera.
In addition, there may be various kinds of materials, various kinds of raw material storage locations 11, and various kinds of material trays 22, so that each kind of material needs to be placed in the material tray 22 corresponding to the kind of material, and each kind of material tray 22 needs to be placed in the raw material storage location 11 corresponding to the kind of material.
Fig. 7 is a schematic flow chart of a method for controlling a feeding apparatus to perform ordered feeding according to an embodiment of the present invention, and the method for controlling the feeding apparatus to perform ordered feeding is further described in detail on the basis of the above embodiment:
and S510, controlling the mechanical arm to move the empty material tray in each raw material warehouse position to the outside of the raw material warehouse position.
Specifically, the robotic arm will automatically move the empty tray out of the magazine in the in-feed apparatus only when the material in the raw material magazine is used up or to a very low level. The feeding equipment is controlled to carry out ordered feeding, and when empty material trays are detected in the raw material storage positions, the mechanical arm is controlled to move the empty material trays in each raw material storage position out of the raw material storage positions. From this, be convenient for man-machine in coordination with the pan feeding, wait for the manual work to replenish the material tray with the material, the arm will be replenished with the material tray of material and put into raw and other materials storehouse position once more to improve the pan feeding efficiency of pan feeding equipment.
S520, controlling the mechanical arm to obtain material information in the material tray in the ordered feeding slide way, and judging the type of the material according to the material information.
Wherein, install the camera on the arm, the material information in the material tray of placing on the preface pan feeding slide is acquireed through visual identification to the camera. Illustratively, the material information includes a shape and a color of the material. Different kinds of materials have different colors and shapes, so that the material kind can be judged according to the material information.
S530, according to the material types, the mechanical arm is controlled to place the material tray in the raw material warehouse of the corresponding type.
In summary, through the process, the machine cooperation feeding can be realized through the ordered feeding, and the feeding efficiency and the feeding accuracy of the feeding equipment are improved.
Fig. 8 is a schematic flow chart of a method for controlling a feeding apparatus to perform unordered feeding according to an embodiment of the present invention, and the method for controlling the feeding apparatus to perform unordered feeding is further described in detail on the basis of the above embodiment:
s610, controlling the disordered feeding slide way to convey materials to the flexible vibration disc.
S620, controlling the 3D camera to acquire the position information of each material in the flexible vibration disc in real time.
Specifically, the bit information includes position data, posture data, and placement angle data.
Illustratively, the position data includes coordinates of the material on the material tray, a distance between adjacent materials, a distance from an edge of the flexible vibration disk, and the like. The pose data includes top view data of the material, etc. The placing angle data comprises an included angle between the edge of the material and the edge of the flexible vibration disc and the like.
S630, judging whether materials meeting the grabbing conditions exist or not according to the bit information; if yes, go to S650, otherwise go to S640.
And S640, controlling the flexible vibration disc to vibrate according to the bit information.
And S650, controlling the mechanical arm to grab the materials and placing the materials in the non-full material tray in the corresponding raw material warehouse.
To sum up, through the above-mentioned process, unordered pan feeding can realize the automatic feeding of charging equipment to reduce the input of manpower resources.
Illustratively, 6 items may be placed in each item tray. The time spent on orderly feeding by the feeding equipment is about 31s, and the method specifically comprises the following steps: the time that the control arm moved empty material tray outside raw and other materials storehouse position is about 5s + the manual work is filled the material tray with the material and is put into the time that the material tray was gone into the orderly pan feeding slide is about 10s + the time that the arm vision discernment material kind is about 1s + the time that the arm put into corresponding raw and other materials storehouse position the material tray is about 5s.
The time spent on unordered feeding of the feeding equipment is about 48s, and the method specifically comprises the following steps: (the time for the flexible vibrating disc to vibrate each time to enable the materials to meet the grabbing condition is about 5s + the time for controlling the mechanical arm to place one material into the material tray is about 3 s) 6.
By comparison, the first mode has high efficiency but needs manual participation, and the second mode does not need human resources but has low efficiency. Therefore, according to the scheme, the feeding equipment can be controlled to combine ordered feeding with no need of feeding according to the actual condition of production (order information and the feeding equipment state), so that the waste of human resources is reduced and the operating efficiency of the feeding equipment is improved on the basis of considering the feeding requirement of the feeding equipment.
Specifically, fig. 9 is a schematic flow chart of a method for determining whether there is a material meeting a gripping condition according to an embodiment of the present invention, and on the basis of the above embodiment, the method for determining whether there is a material meeting a gripping condition is further described in detail:
s710, judging whether the position data is in a preset grabbing position range; if so, go to step S720, otherwise, go to step S740.
Wherein, the preset grabbing position range is a preset grabbing position range.
S720, judging whether the gesture data are the same as the preset gesture data; if yes, go to step S730, otherwise go to step S740.
The preset posture data are preset material top views.
And S730, controlling the mechanical arm to grab the material according to the angle data.
And S740, controlling the flexible vibration disc to vibrate according to the bit information.
Fig. 10 is a schematic structural diagram of a mixed feeding system according to an embodiment of the present invention, and as shown in fig. 10, the mixed feeding system includes: the device comprises a feeding device and a control device for mixed feeding; the mixed feeding control device is used for executing the mixed feeding control method provided by any embodiment of the invention, so that the mixed feeding control device has the beneficial effects of the mixed feeding control method provided by the embodiment of the invention, and the details are not repeated here.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. A control method for mixed feeding is characterized by comprising the following steps:
acquiring order information and a feeding equipment state; the order information comprises order queuing quantity, and the feeding equipment state comprises an idle state and a busy state;
determining a feeding mode of feeding equipment according to the order information and the state of the feeding equipment; the feeding mode comprises ordered feeding and unordered feeding;
and controlling feeding equipment to feed according to the feeding mode.
2. The method for controlling mixed feeding according to claim 1, wherein the method for determining the feeding mode of the feeding device comprises the following steps:
judging whether the order queuing number is more than or equal to 1;
if so, controlling the feeding equipment to execute the ordered feeding;
if not, judging whether the feeding equipment is in a busy state;
if so, controlling the feeding equipment to execute the ordered feeding;
and if not, controlling the feeding equipment to execute the disordered feeding.
3. The control method of mixed feeding according to claim 2, further comprising, before controlling said feeding apparatus to perform said unordered feeding:
acquiring a raw material storage position state of the feeding equipment;
judging whether the stock position state of the raw materials is full load;
if so, re-determining the feeding mode of the feeding equipment;
and if not, controlling the feeding equipment to execute the disordered feeding.
4. The control method of mixed feeding according to claim 2, further comprising, before controlling said feeding apparatus to perform said unordered feeding:
collecting historical order information;
determining the feeding sequence of different types of materials to be fed according to the historical order information;
and controlling the feeding equipment to execute the disordered feeding according to the feeding sequence.
5. The method of claim 1, wherein said feeding apparatus comprises a plurality of raw material storage locations, a plurality of material trays, an ordered feeding chute, and a robotic arm; the method for controlling the feeding equipment to carry out the ordered feeding comprises the following steps:
controlling the mechanical arm to move the empty material tray in each raw material storage position out of the raw material storage position;
controlling the mechanical arm to obtain material information in the material tray in the ordered feeding slideway, and judging the type of the material according to the material information;
and controlling the mechanical arm to place the material tray in the raw material warehouse position of the corresponding type according to the material type.
6. The control method of mixed feeding according to claim 5, wherein the feeding device further comprises an unordered feeding chute, a flexible vibrating disk and a 3D camera;
the method for controlling the feeding equipment to carry out the disordered feeding comprises the following steps:
controlling the disordered feeding slide way to convey materials to the flexible vibration disc;
controlling the 3D camera to acquire position information of each material in the flexible vibration disc in real time;
judging whether materials meeting the grabbing conditions exist or not according to the position information;
if not, controlling the flexible vibration disc to vibrate according to the bit information;
and if so, controlling the mechanical arm to grab the material and placing the material in the material tray which is not fully loaded in the corresponding raw material storage position.
7. The method as set forth in claim 6, wherein the position information includes position data, posture data and placement angle data.
8. A control method for mixed feeding according to claim 7, wherein the method for judging whether the materials meet the grabbing condition comprises the following steps:
judging whether the position data is within a preset grabbing position range or not;
if yes, judging whether the gesture data are the same as preset gesture data or not;
and if so, controlling the mechanical arm to grab the material according to the angle data.
9. A hybrid feeding system, comprising: the device comprises a feeding device and a control device for mixed feeding;
the mixed feeding control device is used for executing the mixed feeding control method of any one of claims 1 to 8.
CN202211413840.1A 2022-11-11 2022-11-11 Mixed feeding control method and mixed feeding system Pending CN115709869A (en)

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DE102023131148.4A DE102023131148A1 (en) 2022-11-11 2023-11-09 Method for controlling mixed feed and mixed feed system

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